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Created with Raphaël 2.2.016Aug20Jul1237Jun4331May302523201918171613121110965429Apr282725242322212013128Mar242120152Merge branch 'experiments' into 'main'mainmainfinalforce control plots v1Merge branch 'plots' into 'main'outsourced plotsdecoupled plottiing and preprocessingdid better force measurementfixed force meassurement, result was 1 when acutally 5 N were appliedassembleCodeassembleCodetested whole state machine's functionality successfullyimplementing state machine with additional state: synching start position, backupextended loggingfixed bug in blending and tested successfullyextended code by blending function, needs testing whether working correctlyfirst experimental testrunssimplification of control with selection matrices and python progressbarsuccessful test run of hybrid control (force contol + moving along planned trajectorydisabled drift compensation in force controlled axissuccessful force control on yumifirst successful testrun on yumiIK FOR BOTH ARMS WORKcleared all pointers from function argumentsMerge branch 'assembleCode' of gitlab.control.lth.se:gosda/master-project into assembleCodemajor code reorganizationbasic class based interfacetwo python modules but still only working when importing one lib in python, otherwise pointers get messed up2Clibs2Clibstried handing over shared model ptr directly but cannot be given to python cuz of its typechanged to pybind class based approach but still does not work with 2 pointerspointer solution works :Dpointer solutionoutsource parsing model to another functionchecking execution time -> it is too long, parsing takes a lot of time :(outsourced code that is reused to function within /data/get_data.pyimprove data managementrepo cleanupMerge branch 'pybind11' into 'main'cleaned up folder structurefound fucking bug -> works now yaygit add python/preprocessing/genPaths.pyeverything works now, but there is a bug in genpaths.pyextended code for right arm: adapt urdf file, iksimulation in RS works with my trajectorygit add abb_egm_pyclient/abb_egm_pyclient/main_program.py preprocessing/genPaths.py taskspace_placement/computeJoints_left.py